Second-Order Sliding Mode Control of a Perturbed-Crane

• A fiv degrees-of-freedom overhead crane system affected by external erturbaions is the topic f study. Existing method justhandle the nperturbed case or, in addition, the analysis is limited to three or wo degrees-of-freedom. A wide range of processes cannot be restricted o these scenarios and this paper goes a step forward proposing a ontrol solution for a five degrees-of-freedom system under the esence f matched and unmatched disturbances. The contribution includes a del escription and a second-order sliding mode (SOSM) control design nsuring the precise trajectory tracking for the actuated variables and t the same time the regulation of the unactuated variables. urthermore, the proposed approach is supported by the design of strong yapunov fnctions providing an estimation of the convergence time. imulations and experiments, including a comparison with roportional-integral-derivatie (PID) controller, verified the dvantages of the methodology.

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NATURVETENSKAP  -- Fysik (hsv//swe)

NATURAL SCIENCES  -- Physical Sciences (hsv//eng)

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